EP2131713B1 - Robot et procédé pour commander le robot - Google Patents

Robot et procédé pour commander le robot Download PDF

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Publication number
EP2131713B1
EP2131713B1 EP08723182.5A EP08723182A EP2131713B1 EP 2131713 B1 EP2131713 B1 EP 2131713B1 EP 08723182 A EP08723182 A EP 08723182A EP 2131713 B1 EP2131713 B1 EP 2131713B1
Authority
EP
European Patent Office
Prior art keywords
robot
bumper
case
obstacle
arm
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
EP08723182.5A
Other languages
German (de)
English (en)
Other versions
EP2131713A1 (fr
EP2131713A4 (fr
Inventor
Moon Kee Chung
Jong Il Park
Ho Seon Rew
Young Gyu Jung
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
LG Electronics Inc
Original Assignee
LG Electronics Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Family has litigation
First worldwide family litigation filed litigation Critical https://patents.darts-ip.com/?family=39721434&utm_source=google_patent&utm_medium=platform_link&utm_campaign=public_patent_search&patent=EP2131713(B1) "Global patent litigation dataset” by Darts-ip is licensed under a Creative Commons Attribution 4.0 International License.
Application filed by LG Electronics Inc filed Critical LG Electronics Inc
Publication of EP2131713A1 publication Critical patent/EP2131713A1/fr
Publication of EP2131713A4 publication Critical patent/EP2131713A4/fr
Application granted granted Critical
Publication of EP2131713B1 publication Critical patent/EP2131713B1/fr
Active legal-status Critical Current
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Classifications

    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2889—Safety or protection devices or systems, e.g. for prevention of motor over-heating or for protection of the user
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/009—Carrying-vehicles; Arrangements of trollies or wheels; Means for avoiding mechanical obstacles
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2805—Parameters or conditions being sensed
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2836—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means characterised by the parts which are controlled
    • A47L9/2852—Elements for displacement of the vacuum cleaner or the accessories therefor, e.g. wheels, casters or nozzles
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2857—User input or output elements for control, e.g. buttons, switches or displays
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2868—Arrangements for power supply of vacuum cleaners or the accessories thereof
    • A47L9/2884—Details of arrangements of batteries or their installation
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection

Definitions

  • US 4968878 A relates to autonomous mobile vehicles (robots) and, more particularly, to an obstacle detection and avoidance system for such vehicles.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Manipulator (AREA)
  • Electric Vacuum Cleaner (AREA)

Claims (15)

  1. Robot de nettoyage (100), comprenant :
    un boîtier (110) ;
    un premier pare-chocs (210) raccordé au boîtier (110), ledit premier pare-chocs (210) étant prévu pour détecter un obstacle (1) à éviter ;
    caractérisé par
    un deuxième pare-chocs (220) prévu pour détecter et distinguer un obstacle surmontable (2) sur lequel le robot est prévu pour passer.
  2. Robot selon la revendication 1, où le deuxième pare-chocs (220) est prévu pour détecter l'objet surmontable en contactant l'objet surmontable.
  3. Robot selon la revendication 1, où le deuxième pare-chocs (220) est prévu pour être relativement mobile par rapport au boîtier (110).
  4. Robot selon la revendication 1, où le deuxième pare-chocs (220) est prévu pour être relativement rotatif par rapport au boîtier (110).
  5. Robot selon la revendication 4, où le deuxième pare-chocs (220) est prévu pour être relativement rotatif vers le bas du boîtier (110).
  6. Robot selon la revendication 1, où le deuxième pare-chocs (220) est disposé sur le bas du premier pare-chocs (210).
  7. Robot selon la revendication 1, comprenant en outre :
    une roue motrice (150, 160) prévue pour déplacer le robot, ladite roue motrice (150, 160) étant prévue pour passer la hauteur de l'objet surmontable détecté par le deuxième pare-chocs (220).
  8. Robot selon la revendication 1, où le deuxième pare-chocs (220) est prévu pour être relativement mobile vers l'avant et vers l'arrière du robot et pour être relativement mobile par rapport au boîtier (110).
  9. Robot selon la revendication 1, où le deuxième pare-chocs (220) comprend :
    un plaque de détection (222) prévue pour être espacée du boîtier (110), ladite plaque de détection étant prévue pour contacter l'obstacle surmontable (2) ;
    un bras (224) prévu pour s'étendre vers le boîtier (110) depuis la plaque de détection ;
    un guidage (230) prévu sur le boîtier (110), ledit guidage (230) étant prévu pour guider la rotation et le mouvement du bras ; et
    un capteur (214) prévu sur le guidage (230), ledit capteur (214) étant prévu pour détecter l'obstacle surmontable (2) par mouvement du bras.
  10. Robot selon la revendication 9, où la plaque de détection (222) comprend :
    une section circonférentielle (222a) prévue à l'avant du boîtier (110) ; et
    une section coudée raccordée à la section circonférentielle (222a), ladite section coudée étant prévue sur une partie inférieure du boîtier (110).
  11. Robot selon la revendication 9, où le bras comprend :
    une section de tige (224a) prévue pour s'étendre vers le guidage (230) depuis la plaque de détection ; et
    une section de charnière (224b) prévue pour s'étendre dans une direction où ladite section de charnière (224b) croise la section de tige (224a), ladite section de charnière (224b) étant prévue pour être relativement mobile et relativement rotative avec le guidage (230).
  12. Robot selon la revendication 11, où l'élément de guidage (230) comprend :
    une cavité de tige (232) prévu pour permettre l'insertion de la section de tige (224a) ; et
    une cavité de charnière (234) prévu pour permettre l'insertion de la section de charnière (224b), ladite cavité de charnière (234) étant prévu pour guider un coulissement de la section de charnière (224b).
  13. Robot selon la revendication 12, où la section de charnière (224b) a une forme sensiblement cylindrique.
  14. Robot selon la revendication 9, où le deuxième pare-chocs (220) comprend en outre un élément élastique (228) prévu entre le bras (224) et le guidage (230), ledit élément élastique (228) étant prévu pour supporter le bras (224) quand le bras (224) est déplacé.
  15. Robot selon la revendication 9, où le deuxième pare-chocs (220) comprend en outre un ressort de rappel (229) prévu entre le bras (224) et le guidage (230), ledit ressort de rappel (229) étant prévu pour supporter le bras (224) quand le bras (224) est entraîné en rotation.
EP08723182.5A 2007-02-28 2008-02-27 Robot et procédé pour commander le robot Active EP2131713B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR1020070020415A KR100835968B1 (ko) 2007-02-28 2007-02-28 로봇청소기 및 그에 따른 제어방법
PCT/KR2008/001144 WO2008105634A1 (fr) 2007-02-28 2008-02-27 Robot et procédé pour commander le robot

Publications (3)

Publication Number Publication Date
EP2131713A1 EP2131713A1 (fr) 2009-12-16
EP2131713A4 EP2131713A4 (fr) 2016-06-29
EP2131713B1 true EP2131713B1 (fr) 2019-04-03

Family

ID=39721434

Family Applications (1)

Application Number Title Priority Date Filing Date
EP08723182.5A Active EP2131713B1 (fr) 2007-02-28 2008-02-27 Robot et procédé pour commander le robot

Country Status (6)

Country Link
US (1) US7992251B2 (fr)
EP (1) EP2131713B1 (fr)
KR (1) KR100835968B1 (fr)
CN (1) CN101621952B (fr)
ES (1) ES2731590T3 (fr)
WO (1) WO2008105634A1 (fr)

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KR102021828B1 (ko) 2017-08-07 2019-09-17 엘지전자 주식회사 청소기
KR102011827B1 (ko) 2017-08-07 2019-08-19 엘지전자 주식회사 로봇청소기 및 그 제어방법
KR102024089B1 (ko) 2017-08-07 2019-09-23 엘지전자 주식회사 로봇 청소기
KR102033936B1 (ko) 2017-08-07 2019-10-18 엘지전자 주식회사 로봇청소기
KR102014142B1 (ko) 2017-08-07 2019-08-26 엘지전자 주식회사 로봇 청소기
CN111163671B (zh) 2017-09-07 2022-08-23 尚科宁家运营有限公司 机器人清洁器
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Also Published As

Publication number Publication date
CN101621952A (zh) 2010-01-06
US7992251B2 (en) 2011-08-09
KR100835968B1 (ko) 2008-06-09
US20100133022A1 (en) 2010-06-03
WO2008105634A1 (fr) 2008-09-04
EP2131713A1 (fr) 2009-12-16
ES2731590T3 (es) 2019-11-18
EP2131713A4 (fr) 2016-06-29
CN101621952B (zh) 2011-10-05

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